.. _rci:

===========
 |project| 
===========

|project| Manual (for version |version|)
========================================

The **Robot Control Interface** (RCI) is a a framework for specification and
implementation of interfaces for compliant robot platforms, developed in the
:term:`AMARSi` project together with the component framework :ref:`CCA <cca>`
(Compliant Control Architecture)

|project| was based on a extensive feature-oriented domain analysis on
compliant robots and their control software, which is documented in the
:term:`AMARSi Deliverable D 7.1` [D71]_ . It`s main outcome is the concept of the so called
:doc:`Resource Nodes <resourcenode>` and splitting of the interface in
:doc:`Controlling and Sensing <ctrlsens>` aspects.
The :doc:`Synchronizer <synchronizer>` concepts cares for keeping the resource
nodes and the actual backend (Simulation or hardware drivers) in sync.

.. [D71] A. Nordmann, S. Wrede, A. Tuleu, N. Tsagarakis, `Software Interface
    for Proprioceptive Sensors and Actuators`_, 2010
.. _`Software Interface for Proprioceptive Sensors and Actuators`:
	http://www.amarsi-project.eu/system/files/AMARSI-D.7.1.pdf